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<a href="optimization__algorithm_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// g2o - General Graph Optimization</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment">// All rights reserved.</span></div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment">// Redistribution and use in source and binary forms, with or without</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment">// modification, are permitted provided that the following conditions are</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment">// met:</span></div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment">// * Redistributions of source code must retain the above copyright notice,</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment">//   this list of conditions and the following disclaimer.</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment">// * Redistributions in binary form must reproduce the above copyright</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment">//   notice, this list of conditions and the following disclaimer in the</span></div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment">//   documentation and/or other materials provided with the distribution.</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment">// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS &quot;AS</span></div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment">// IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED</span></div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment">// TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A</span></div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment">// PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT</span></div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment">// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,</span></div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment">// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED</span></div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment">// TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR</span></div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment">// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF</span></div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment">// LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING</span></div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment">// NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS</span></div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment">// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.</span></div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="preprocessor">#ifndef G2O_OPTIMIZATION_ALGORITHM_H</span></div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="preprocessor">#define G2O_OPTIMIZATION_ALGORITHM_H</span></div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="preprocessor">#include &lt;vector&gt;</span></div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="preprocessor">#include &lt;utility&gt;</span></div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="preprocessor">#include &lt;iosfwd&gt;</span></div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="preprocessor">#include &quot;../stuff/property.h&quot;</span></div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="hyper__graph_8h.html">hyper_graph.h</a>&quot;</span></div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="sparse__block__matrix_8h.html">sparse_block_matrix.h</a>&quot;</span></div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespaceg2o.html">g2o</a> {</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;  <span class="keyword">class </span>SparseOptimizer;</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;</div><div class="line"><a name="l00046"></a><span class="lineno"><a class="line" href="classg2o_1_1_optimization_algorithm.html">   46</a></span>&#160;  <span class="keyword">class  </span><a class="code" href="classg2o_1_1_optimization_algorithm.html">OptimizationAlgorithm</a></div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;  {</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;    <span class="keyword">public</span>:</div><div class="line"><a name="l00049"></a><span class="lineno"><a class="line" href="classg2o_1_1_optimization_algorithm.html#a705d58d7bc19528a8ab718570d090cdfa3c3d3db3bae371ad18611e0ec5aa99ef">   49</a></span>&#160;      <span class="keyword">enum</span>  <a class="code" href="classg2o_1_1_optimization_algorithm.html#a705d58d7bc19528a8ab718570d090cdf">SolverResult</a> {<a class="code" href="classg2o_1_1_optimization_algorithm.html#a705d58d7bc19528a8ab718570d090cdfa3c3d3db3bae371ad18611e0ec5aa99ef">Terminate</a>=2, <a class="code" href="classg2o_1_1_optimization_algorithm.html#a705d58d7bc19528a8ab718570d090cdfa5e94b8ee7748cc4c1a5c86de2e8cc962">OK</a>=1, <a class="code" href="classg2o_1_1_optimization_algorithm.html#a705d58d7bc19528a8ab718570d090cdfa375598c3a146bb5116b5d19bb1a88f84">Fail</a>=-1};</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;      <a class="code" href="classg2o_1_1_optimization_algorithm.html#a205013e0425b7bbae01cd16caf500ebb">OptimizationAlgorithm</a>();</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;      <span class="keyword">virtual</span> <a class="code" href="classg2o_1_1_optimization_algorithm.html#af2516e3d66596ec9c9dfdd08d48e90f9">~OptimizationAlgorithm</a>();</div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code" href="classg2o_1_1_optimization_algorithm.html#af5b54ea6d40a8ab4c16d448ba02a0c80">init</a>(<span class="keywordtype">bool</span> online = <span class="keyword">false</span>) = 0;</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;      <span class="keyword">virtual</span> <a class="code" href="classg2o_1_1_optimization_algorithm.html#a705d58d7bc19528a8ab718570d090cdf">SolverResult</a> <a class="code" href="classg2o_1_1_optimization_algorithm.html#ab174deeeb2551ceaf715ea09f0f9c077">solve</a>(<span class="keywordtype">int</span> iteration, <span class="keywordtype">bool</span> online = <span class="keyword">false</span>) = 0;</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code" href="classg2o_1_1_optimization_algorithm.html#a67b159f3a83471ba9ebcc0a9162a0e23">computeMarginals</a>(<a class="code" href="classg2o_1_1_sparse_block_matrix.html">SparseBlockMatrix&lt;MatrixXd&gt;</a>&amp; spinv, <span class="keyword">const</span> std::vector&lt;std::pair&lt;int, int&gt; &gt;&amp; blockIndices) = 0;</div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;</div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code" href="classg2o_1_1_optimization_algorithm.html#a350d9bb4ee701e40b75e67d26293a4bd">updateStructure</a>(<span class="keyword">const</span> std::vector&lt;HyperGraph::Vertex*&gt;&amp; vset, <span class="keyword">const</span> <a class="code" href="classg2o_1_1_hyper_graph.html#a5e2970e236c0dcb4eff7c205d7b6b4ae">HyperGraph::EdgeSet</a>&amp; edges) = 0;</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;</div><div class="line"><a name="l00080"></a><span class="lineno"><a class="line" href="classg2o_1_1_optimization_algorithm.html#a6683d35e67402b50924bc4744b6e282a">   80</a></span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classg2o_1_1_optimization_algorithm.html#a6683d35e67402b50924bc4744b6e282a">printVerbose</a>(std::ostream&amp; os)<span class="keyword"> const </span>{(void) os;};</div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;    <span class="keyword">public</span>:</div><div class="line"><a name="l00084"></a><span class="lineno"><a class="line" href="classg2o_1_1_optimization_algorithm.html#a040b3e3fd814d9928fa73ae6e98cedc5">   84</a></span>&#160;      <span class="keyword">const</span> <a class="code" href="classg2o_1_1_sparse_optimizer.html">SparseOptimizer</a>* <a class="code" href="classg2o_1_1_optimization_algorithm.html#a040b3e3fd814d9928fa73ae6e98cedc5">optimizer</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> <a class="code" href="classg2o_1_1_optimization_algorithm.html#a6017c344be0d9f09d6674849849c6b60">_optimizer</a>;}</div><div class="line"><a name="l00085"></a><span class="lineno"><a class="line" href="classg2o_1_1_optimization_algorithm.html#ac6ca7a2adbd25615be78316bc811a315">   85</a></span>&#160;      <a class="code" href="classg2o_1_1_sparse_optimizer.html">SparseOptimizer</a>* <a class="code" href="classg2o_1_1_optimization_algorithm.html#ac6ca7a2adbd25615be78316bc811a315">optimizer</a>() { <span class="keywordflow">return</span> <a class="code" href="classg2o_1_1_optimization_algorithm.html#a6017c344be0d9f09d6674849849c6b60">_optimizer</a>;}</div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;</div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;      <span class="keywordtype">void</span> <a class="code" href="classg2o_1_1_optimization_algorithm.html#aff88a3dc8357c98712ff0047e601bd5e">setOptimizer</a>(<a class="code" href="classg2o_1_1_sparse_optimizer.html">SparseOptimizer</a>* <a class="code" href="classg2o_1_1_optimization_algorithm.html#a040b3e3fd814d9928fa73ae6e98cedc5">optimizer</a>);</div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;</div><div class="line"><a name="l00093"></a><span class="lineno"><a class="line" href="classg2o_1_1_optimization_algorithm.html#a0901951b7accc6744447c82dd043a07e">   93</a></span>&#160;      <span class="keyword">const</span> <a class="code" href="classg2o_1_1_property_map.html">PropertyMap</a>&amp; <a class="code" href="classg2o_1_1_optimization_algorithm.html#a0901951b7accc6744447c82dd043a07e">properties</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> <a class="code" href="classg2o_1_1_optimization_algorithm.html#ae37b494f69b483a3fcafa944e987e325">_properties</a>;}</div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;</div><div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;      <span class="keywordtype">bool</span> <a class="code" href="classg2o_1_1_optimization_algorithm.html#aa05a6380f936c728a574c7c272bcc524">updatePropertiesFromString</a>(<span class="keyword">const</span> std::string&amp; propString);</div><div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;      </div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;      <span class="keywordtype">void</span> <a class="code" href="classg2o_1_1_optimization_algorithm.html#a830831cbe8357957188440c2f22bed91">printProperties</a>(std::ostream&amp; os) <span class="keyword">const</span>;</div><div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;</div><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;    <span class="keyword">protected</span>:</div><div class="line"><a name="l00106"></a><span class="lineno"><a class="line" href="classg2o_1_1_optimization_algorithm.html#a6017c344be0d9f09d6674849849c6b60">  106</a></span>&#160;      <a class="code" href="classg2o_1_1_sparse_optimizer.html">SparseOptimizer</a>* <a class="code" href="classg2o_1_1_optimization_algorithm.html#a6017c344be0d9f09d6674849849c6b60">_optimizer</a>;   </div><div class="line"><a name="l00107"></a><span class="lineno"><a class="line" href="classg2o_1_1_optimization_algorithm.html#ae37b494f69b483a3fcafa944e987e325">  107</a></span>&#160;      <a class="code" href="classg2o_1_1_property_map.html">PropertyMap</a> <a class="code" href="classg2o_1_1_optimization_algorithm.html#ae37b494f69b483a3fcafa944e987e325">_properties</a>;       </div><div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;</div><div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;    <span class="keyword">private</span>:</div><div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;      <span class="comment">// Disable the copy constructor and assignment operator</span></div><div class="line"><a name="l00111"></a><span class="lineno"><a class="line" href="classg2o_1_1_optimization_algorithm.html#af4bf8ed80e63df3f1a066e8b0098eb27">  111</a></span>&#160;      <a class="code" href="classg2o_1_1_optimization_algorithm.html#af4bf8ed80e63df3f1a066e8b0098eb27">OptimizationAlgorithm</a>(<span class="keyword">const</span> <a class="code" href="classg2o_1_1_optimization_algorithm.html">OptimizationAlgorithm</a>&amp;) { }</div><div class="line"><a name="l00112"></a><span class="lineno"><a class="line" href="classg2o_1_1_optimization_algorithm.html#a74d342220fa0b1588e21f61959ff414a">  112</a></span>&#160;      <a class="code" href="classg2o_1_1_optimization_algorithm.html">OptimizationAlgorithm</a>&amp; <a class="code" href="classg2o_1_1_optimization_algorithm.html#a74d342220fa0b1588e21f61959ff414a">operator= </a>(<span class="keyword">const</span> <a class="code" href="classg2o_1_1_optimization_algorithm.html">OptimizationAlgorithm</a>&amp;) { <span class="keywordflow">return</span> *<span class="keyword">this</span>; }</div><div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;  };</div><div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;</div><div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;} <span class="comment">// end namespace</span></div><div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;</div><div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;<span class="preprocessor">#endif</span></div><div class="ttc" id="classg2o_1_1_optimization_algorithm_html_a0901951b7accc6744447c82dd043a07e"><div class="ttname"><a href="classg2o_1_1_optimization_algorithm.html#a0901951b7accc6744447c82dd043a07e">g2o::OptimizationAlgorithm::properties</a></div><div class="ttdeci">const PropertyMap &amp; properties() const</div><div class="ttdoc">return the properties of the solver </div><div class="ttdef"><b>Definition:</b> optimization_algorithm.h:93</div></div>
<div class="ttc" id="classg2o_1_1_optimization_algorithm_html_a6683d35e67402b50924bc4744b6e282a"><div class="ttname"><a href="classg2o_1_1_optimization_algorithm.html#a6683d35e67402b50924bc4744b6e282a">g2o::OptimizationAlgorithm::printVerbose</a></div><div class="ttdeci">virtual void printVerbose(std::ostream &amp;os) const</div><div class="ttdoc">called by the optimizer if verbose. </div><div class="ttdef"><b>Definition:</b> optimization_algorithm.h:80</div></div>
<div class="ttc" id="hyper__graph_8h_html"><div class="ttname"><a href="hyper__graph_8h.html">hyper_graph.h</a></div></div>
<div class="ttc" id="classg2o_1_1_optimization_algorithm_html_ac6ca7a2adbd25615be78316bc811a315"><div class="ttname"><a href="classg2o_1_1_optimization_algorithm.html#ac6ca7a2adbd25615be78316bc811a315">g2o::OptimizationAlgorithm::optimizer</a></div><div class="ttdeci">SparseOptimizer * optimizer()</div><div class="ttdef"><b>Definition:</b> optimization_algorithm.h:85</div></div>
<div class="ttc" id="classg2o_1_1_sparse_optimizer_html"><div class="ttname"><a href="classg2o_1_1_sparse_optimizer.html">g2o::SparseOptimizer</a></div><div class="ttdef"><b>Definition:</b> sparse_optimizer.h:45</div></div>
<div class="ttc" id="classg2o_1_1_optimization_algorithm_html_a205013e0425b7bbae01cd16caf500ebb"><div class="ttname"><a href="classg2o_1_1_optimization_algorithm.html#a205013e0425b7bbae01cd16caf500ebb">g2o::OptimizationAlgorithm::OptimizationAlgorithm</a></div><div class="ttdeci">OptimizationAlgorithm()</div><div class="ttdef"><b>Definition:</b> optimization_algorithm.cpp:33</div></div>
<div class="ttc" id="classg2o_1_1_optimization_algorithm_html_af5b54ea6d40a8ab4c16d448ba02a0c80"><div class="ttname"><a href="classg2o_1_1_optimization_algorithm.html#af5b54ea6d40a8ab4c16d448ba02a0c80">g2o::OptimizationAlgorithm::init</a></div><div class="ttdeci">virtual bool init(bool online=false)=0</div><div class="ttdoc">initialize the solver, called once before the first call to solve() </div></div>
<div class="ttc" id="classg2o_1_1_optimization_algorithm_html_a040b3e3fd814d9928fa73ae6e98cedc5"><div class="ttname"><a href="classg2o_1_1_optimization_algorithm.html#a040b3e3fd814d9928fa73ae6e98cedc5">g2o::OptimizationAlgorithm::optimizer</a></div><div class="ttdeci">const SparseOptimizer * optimizer() const</div><div class="ttdoc">return the optimizer operating on </div><div class="ttdef"><b>Definition:</b> optimization_algorithm.h:84</div></div>
<div class="ttc" id="classg2o_1_1_optimization_algorithm_html_af2516e3d66596ec9c9dfdd08d48e90f9"><div class="ttname"><a href="classg2o_1_1_optimization_algorithm.html#af2516e3d66596ec9c9dfdd08d48e90f9">g2o::OptimizationAlgorithm::~OptimizationAlgorithm</a></div><div class="ttdeci">virtual ~OptimizationAlgorithm()</div><div class="ttdef"><b>Definition:</b> optimization_algorithm.cpp:38</div></div>
<div class="ttc" id="classg2o_1_1_property_map_html"><div class="ttname"><a href="classg2o_1_1_property_map.html">g2o::PropertyMap</a></div><div class="ttdoc">a collection of properties mapping from name to the property itself </div><div class="ttdef"><b>Definition:</b> property.h:75</div></div>
<div class="ttc" id="classg2o_1_1_optimization_algorithm_html_a74d342220fa0b1588e21f61959ff414a"><div class="ttname"><a href="classg2o_1_1_optimization_algorithm.html#a74d342220fa0b1588e21f61959ff414a">g2o::OptimizationAlgorithm::operator=</a></div><div class="ttdeci">OptimizationAlgorithm &amp; operator=(const OptimizationAlgorithm &amp;)</div><div class="ttdef"><b>Definition:</b> optimization_algorithm.h:112</div></div>
<div class="ttc" id="classg2o_1_1_optimization_algorithm_html_ae37b494f69b483a3fcafa944e987e325"><div class="ttname"><a href="classg2o_1_1_optimization_algorithm.html#ae37b494f69b483a3fcafa944e987e325">g2o::OptimizationAlgorithm::_properties</a></div><div class="ttdeci">PropertyMap _properties</div><div class="ttdoc">the properties of your solver, use this to store the parameters of your solver </div><div class="ttdef"><b>Definition:</b> optimization_algorithm.h:107</div></div>
<div class="ttc" id="classg2o_1_1_optimization_algorithm_html_aa05a6380f936c728a574c7c272bcc524"><div class="ttname"><a href="classg2o_1_1_optimization_algorithm.html#aa05a6380f936c728a574c7c272bcc524">g2o::OptimizationAlgorithm::updatePropertiesFromString</a></div><div class="ttdeci">bool updatePropertiesFromString(const std::string &amp;propString)</div><div class="ttdoc">update the properties from a string, see PropertyMap::updateMapFromString() </div><div class="ttdef"><b>Definition:</b> optimization_algorithm.cpp:52</div></div>
<div class="ttc" id="namespaceg2o_html"><div class="ttname"><a href="namespaceg2o.html">g2o</a></div><div class="ttdef"><b>Definition:</b> base_binary_edge.h:37</div></div>
<div class="ttc" id="classg2o_1_1_optimization_algorithm_html_a705d58d7bc19528a8ab718570d090cdf"><div class="ttname"><a href="classg2o_1_1_optimization_algorithm.html#a705d58d7bc19528a8ab718570d090cdf">g2o::OptimizationAlgorithm::SolverResult</a></div><div class="ttdeci">SolverResult</div><div class="ttdef"><b>Definition:</b> optimization_algorithm.h:49</div></div>
<div class="ttc" id="classg2o_1_1_optimization_algorithm_html_a67b159f3a83471ba9ebcc0a9162a0e23"><div class="ttname"><a href="classg2o_1_1_optimization_algorithm.html#a67b159f3a83471ba9ebcc0a9162a0e23">g2o::OptimizationAlgorithm::computeMarginals</a></div><div class="ttdeci">virtual bool computeMarginals(SparseBlockMatrix&lt; MatrixXd &gt; &amp;spinv, const std::vector&lt; std::pair&lt; int, int &gt; &gt; &amp;blockIndices)=0</div><div class="ttdoc">computes the block diagonal elements of the pattern specified in the input and stores them in given S...</div></div>
<div class="ttc" id="classg2o_1_1_optimization_algorithm_html_a705d58d7bc19528a8ab718570d090cdfa5e94b8ee7748cc4c1a5c86de2e8cc962"><div class="ttname"><a href="classg2o_1_1_optimization_algorithm.html#a705d58d7bc19528a8ab718570d090cdfa5e94b8ee7748cc4c1a5c86de2e8cc962">g2o::OptimizationAlgorithm::OK</a></div><div class="ttdef"><b>Definition:</b> optimization_algorithm.h:49</div></div>
<div class="ttc" id="classg2o_1_1_optimization_algorithm_html_a350d9bb4ee701e40b75e67d26293a4bd"><div class="ttname"><a href="classg2o_1_1_optimization_algorithm.html#a350d9bb4ee701e40b75e67d26293a4bd">g2o::OptimizationAlgorithm::updateStructure</a></div><div class="ttdeci">virtual bool updateStructure(const std::vector&lt; HyperGraph::Vertex *&gt; &amp;vset, const HyperGraph::EdgeSet &amp;edges)=0</div><div class="ttdoc">update the structures for online processing </div></div>
<div class="ttc" id="classg2o_1_1_optimization_algorithm_html_a6017c344be0d9f09d6674849849c6b60"><div class="ttname"><a href="classg2o_1_1_optimization_algorithm.html#a6017c344be0d9f09d6674849849c6b60">g2o::OptimizationAlgorithm::_optimizer</a></div><div class="ttdeci">SparseOptimizer * _optimizer</div><div class="ttdoc">the optimizer the solver is working on </div><div class="ttdef"><b>Definition:</b> optimization_algorithm.h:106</div></div>
<div class="ttc" id="sparse__block__matrix_8h_html"><div class="ttname"><a href="sparse__block__matrix_8h.html">sparse_block_matrix.h</a></div></div>
<div class="ttc" id="classg2o_1_1_optimization_algorithm_html_a705d58d7bc19528a8ab718570d090cdfa3c3d3db3bae371ad18611e0ec5aa99ef"><div class="ttname"><a href="classg2o_1_1_optimization_algorithm.html#a705d58d7bc19528a8ab718570d090cdfa3c3d3db3bae371ad18611e0ec5aa99ef">g2o::OptimizationAlgorithm::Terminate</a></div><div class="ttdef"><b>Definition:</b> optimization_algorithm.h:49</div></div>
<div class="ttc" id="classg2o_1_1_sparse_block_matrix_html"><div class="ttname"><a href="classg2o_1_1_sparse_block_matrix.html">g2o::SparseBlockMatrix</a></div><div class="ttdoc">Sparse matrix which uses blocks. </div><div class="ttdef"><b>Definition:</b> sparse_block_matrix.h:62</div></div>
<div class="ttc" id="classg2o_1_1_optimization_algorithm_html_a705d58d7bc19528a8ab718570d090cdfa375598c3a146bb5116b5d19bb1a88f84"><div class="ttname"><a href="classg2o_1_1_optimization_algorithm.html#a705d58d7bc19528a8ab718570d090cdfa375598c3a146bb5116b5d19bb1a88f84">g2o::OptimizationAlgorithm::Fail</a></div><div class="ttdef"><b>Definition:</b> optimization_algorithm.h:49</div></div>
<div class="ttc" id="classg2o_1_1_optimization_algorithm_html_aff88a3dc8357c98712ff0047e601bd5e"><div class="ttname"><a href="classg2o_1_1_optimization_algorithm.html#aff88a3dc8357c98712ff0047e601bd5e">g2o::OptimizationAlgorithm::setOptimizer</a></div><div class="ttdeci">void setOptimizer(SparseOptimizer *optimizer)</div><div class="ttdoc">specify on which optimizer the solver should work on </div><div class="ttdef"><b>Definition:</b> optimization_algorithm.cpp:57</div></div>
<div class="ttc" id="classg2o_1_1_hyper_graph_html_a5e2970e236c0dcb4eff7c205d7b6b4ae"><div class="ttname"><a href="classg2o_1_1_hyper_graph.html#a5e2970e236c0dcb4eff7c205d7b6b4ae">g2o::HyperGraph::EdgeSet</a></div><div class="ttdeci">std::set&lt; Edge * &gt; EdgeSet</div><div class="ttdef"><b>Definition:</b> hyper_graph.h:90</div></div>
<div class="ttc" id="classg2o_1_1_optimization_algorithm_html_a830831cbe8357957188440c2f22bed91"><div class="ttname"><a href="classg2o_1_1_optimization_algorithm.html#a830831cbe8357957188440c2f22bed91">g2o::OptimizationAlgorithm::printProperties</a></div><div class="ttdeci">void printProperties(std::ostream &amp;os) const</div><div class="ttdoc">print the properties to a stream in a human readable fashion </div><div class="ttdef"><b>Definition:</b> optimization_algorithm.cpp:42</div></div>
<div class="ttc" id="classg2o_1_1_optimization_algorithm_html_ab174deeeb2551ceaf715ea09f0f9c077"><div class="ttname"><a href="classg2o_1_1_optimization_algorithm.html#ab174deeeb2551ceaf715ea09f0f9c077">g2o::OptimizationAlgorithm::solve</a></div><div class="ttdeci">virtual SolverResult solve(int iteration, bool online=false)=0</div><div class="ttdoc">Solve one iteration. </div></div>
<div class="ttc" id="classg2o_1_1_optimization_algorithm_html_af4bf8ed80e63df3f1a066e8b0098eb27"><div class="ttname"><a href="classg2o_1_1_optimization_algorithm.html#af4bf8ed80e63df3f1a066e8b0098eb27">g2o::OptimizationAlgorithm::OptimizationAlgorithm</a></div><div class="ttdeci">OptimizationAlgorithm(const OptimizationAlgorithm &amp;)</div><div class="ttdef"><b>Definition:</b> optimization_algorithm.h:111</div></div>
<div class="ttc" id="classg2o_1_1_optimization_algorithm_html"><div class="ttname"><a href="classg2o_1_1_optimization_algorithm.html">g2o::OptimizationAlgorithm</a></div><div class="ttdoc">Generic interface for a non-linear solver operating on a graph. </div><div class="ttdef"><b>Definition:</b> optimization_algorithm.h:46</div></div>
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